y2020/y2020_roborio.json

{
  "channels": [
    {
      "name": "/roborio/aos",
      "type": "aos.JoystickState",
      "source_node": "roborio",
      "frequency": 75
    },
    {
      "name": "/roborio/aos",
      "type": "aos.RobotState",
      "source_node": "roborio",
      "frequency": 200
    },
    {
      "name": "/roborio/aos",
      "type": "aos.timing.Report",
      "source_node": "roborio",
      "frequency": 50,
      "num_senders": 20,
      "max_size": 4096
    },
    {
      "name": "/roborio/aos",
      "type": "aos.logging.LogMessageFbs",
      "source_node": "roborio",
      "frequency": 500,
      "max_size": 344,
      /* Due to potential for burst load, don't log. */
      "logger": "NOT_LOGGED",
      "num_senders": 20
    },
    {
      "name": "/roborio/aos",
      "type": "aos.starter.Status",
      "source_node": "roborio",
      "frequency": 50,
      "num_senders": 20
    },
    {
      "name": "/roborio/aos",
      "type": "aos.starter.StarterRpc",
      "source_node": "roborio",
      "frequency": 10,
      "max_size": 72,
      "num_senders": 2
    },
    {
      "name": "/roborio/aos",
      "type": "aos.message_bridge.ServerStatistics",
      "source_node": "roborio",
      "frequency": 10,
      "num_senders": 2
    },
    {
      "name": "/roborio/aos",
      "type": "aos.message_bridge.ClientStatistics",
      "source_node": "roborio",
      "frequency": 15,
      "max_size": 736,
      "num_senders": 2
    },
    {
      "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "frequency": 200,
      "logger": "NOT_LOGGED",
      "source_node": "roborio"
    },
    {
      "name": "/roborio/aos/remote_timestamps/pi1/roborio/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "frequency": 20,
      "logger": "NOT_LOGGED",
      "source_node": "roborio",
      "max_size": 208
    },
    {
      "name": "/roborio/aos/remote_timestamps/pi2/roborio/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "frequency": 20,
      "logger": "NOT_LOGGED",
      "source_node": "roborio",
      "max_size": 208
    },
    {
      "name": "/roborio/aos/remote_timestamps/pi3/roborio/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "frequency": 20,
      "logger": "NOT_LOGGED",
      "source_node": "roborio"
    },
    {
      "name": "/roborio/aos/remote_timestamps/pi4/roborio/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "frequency": 20,
      "logger": "NOT_LOGGED",
      "source_node": "roborio"
    },
    {
      "name": "/roborio/aos/remote_timestamps/pi5/roborio/aos/aos-message_bridge-Timestamp",
      "type": "aos.message_bridge.RemoteMessage",
      "frequency": 20,
      "logger": "NOT_LOGGED",
      "source_node": "roborio",
      "max_size": 208
    },
    {
      "name": "/roborio/aos",
      "type": "aos.message_bridge.Timestamp",
      "source_node": "roborio",
      "frequency": 15,
      "num_senders": 2,
      "max_size": 304,
      "destination_nodes": [
        {
          "name": "pi1",
          "priority": 1,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "roborio"
          ],
          "time_to_live": 5000000
        },
        {
          "name": "pi2",
          "priority": 1,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "roborio"
          ],
          "time_to_live": 5000000
        },
        {
          "name": "pi3",
          "priority": 1,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "roborio"
          ],
          "time_to_live": 5000000
        },
        {
          "name": "pi4",
          "priority": 1,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "roborio"
          ],
          "time_to_live": 5000000
        },
        {
          "name": "pi5",
          "priority": 1,
          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
          "timestamp_logger_nodes": [
            "roborio"
          ],
          "time_to_live": 5000000
        }
      ]
    },
    {
      "name": "/superstructure",
      "type": "y2020.control_loops.superstructure.Goal",
      "source_node": "roborio",
      "frequency": 200,
      "max_size": 512
    },
    {
      "name": "/superstructure",
      "type": "y2020.control_loops.superstructure.Status",
      "source_node": "roborio",
      "frequency": 200,
      "num_senders": 2
    },
    {
      "name": "/superstructure",
      "type": "y2020.control_loops.superstructure.Output",
      "source_node": "roborio",
      "frequency": 200,
      "num_senders": 2,
      "max_size": 224
    },
    {
      "name": "/superstructure",
      "type": "y2020.control_loops.superstructure.Position",
      "source_node": "roborio",
      "frequency": 200,
      "num_senders": 2,
      "max_size": 448
    },
    {
      "name": "/superstructure",
      "type": "y2020.control_loops.superstructure.shooter.TuningReadings",
      "source_node": "roborio",
      "frequency": 200,
      "num_senders": 2,
      "max_size": 64
    },
    {
      "name": "/superstructure",
      "type": "y2020.control_loops.superstructure.shooter.TuningParams",
      "source_node": "roborio",
      "frequency": 5,
      "num_senders": 2,
      "max_size": 256
    },
    {
      "name": "/superstructure",
      "type": "y2020.joysticks.Setpoint",
      "source_node": "roborio",
      "num_senders": 2
    },
    {
      "name": "/drivetrain",
      "type": "y2020.control_loops.drivetrain.LocalizerDebug",
      "source_node": "roborio",
      "frequency": 100,
      "max_size": 1024,
      "num_senders": 2
    },
    {
      "name": "/drivetrain",
      "type": "frc971.IMUValuesBatch",
      "source_node": "roborio",
      "frequency": 250,
      "max_size": 2000,
      "num_senders": 2
    },
    {
      "name": "/drivetrain",
      "type": "frc971.sensors.GyroReading",
      "source_node": "roborio",
      "frequency": 200,
      "num_senders": 2
    },
    {
      "name": "/drivetrain",
      "type": "frc971.sensors.Uid",
      "source_node": "roborio",
      "frequency": 200,
      "num_senders": 2
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.fb.Trajectory",
      "source_node": "roborio",
      "max_size": 600000,
      "frequency": 4,
      "num_senders": 2,
      "read_method": "PIN",
      "num_readers": 10,
      /* Trajectory creates a very peaky load on the logger. */
      "logger": "NOT_LOGGED"
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.SplineGoal",
      "source_node": "roborio",
      "frequency": 10
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.Goal",
      "source_node": "roborio",
      "max_size": 224,
      "frequency": 200
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.Position",
      "source_node": "roborio",
      "frequency": 200,
      "max_size": 112,
      "num_senders": 2
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.Output",
      "source_node": "roborio",
      "frequency": 200,
      "max_size": 80,
      "num_senders": 2
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.Status",
      "source_node": "roborio",
      "frequency": 200,
      "max_size": 1616,
      "num_senders": 2
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.LocalizerControl",
      "source_node": "roborio",
      "frequency": 200,
      "max_size": 96
    },
    {
      "name": "/drivetrain",
      "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
      "source_node": "roborio"
    },
    {
      "name": "/autonomous",
      "type": "aos.common.actions.Status",
      "source_node": "roborio"
    },
    {
      "name": "/autonomous",
      "type": "frc971.autonomous.Goal",
      "source_node": "roborio"
    },
    {
      "name": "/autonomous",
      "type": "frc971.autonomous.AutonomousMode",
      "source_node": "roborio",
      "frequency": 200
    },
    {
      "name": "/roborio/aos",
      "type": "frc971.PDPValues",
      "source_node": "roborio",
      "frequency": 55,
      "max_size": 368
    },
    {
      "name": "/roborio/aos",
      "type": "frc971.wpilib.PneumaticsToLog",
      "source_node": "roborio",
      "frequency": 50
    }
  ],
  "applications": [
    {
      "name": "drivetrain",
      "executable_name": "drivetrain",
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "trajectory_generator",
      "executable_name": "trajectory_generator",
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "superstructure",
      "executable_name": "superstructure",
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "joystick_reader",
      "executable_name": "joystick_reader",
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "wpilib_interface",
      "executable_name": "wpilib_interface",
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "autonomous_action",
      "executable_name": "autonomous_action",
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "web_proxy",
      "executable_name": "web_proxy_main",
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "message_bridge_client",
      "executable_name": "message_bridge_client",
      "args": ["--rt_priority=5"],
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "message_bridge_server",
      "executable_name": "message_bridge_server",
      "args": ["--rt_priority=5"],
      "nodes": [
        "roborio"
      ]
    },
    {
      "name": "logger",
      "executable_name": "logger_main",
      "nodes": [
        "roborio"
      ]
    }
  ],
  "maps": [
    {
      "match": {
        "name": "/aos*",
        "source_node": "roborio"
      },
      "rename": {
        "name": "/roborio/aos"
      }
    }
  ],
  "nodes": [
    {
      "name": "roborio",
      "hostname": "roborio",
      "hostnames": [
        "roboRIO-971-FRC",
        "roboRIO-6971-FRC",
        "roboRIO-7971-FRC",
        "roboRIO-8971-FRC",
        "roboRIO-9971-FRC"
      ],
      "port": 9971
    },
    {
      "name": "pi1"
    },
    {
      "name": "pi2"
    },
    {
      "name": "pi3"
    },
    {
      "name": "pi4"
    },
    {
      "name": "pi5"
    }
  ]
}